EP3017920B1 - An industrial robot and a method for controlling an industrial robot - Google Patents

An industrial robot and a method for controlling an industrial robot Download PDF

Info

Publication number
EP3017920B1
EP3017920B1 EP15190255.8A EP15190255A EP3017920B1 EP 3017920 B1 EP3017920 B1 EP 3017920B1 EP 15190255 A EP15190255 A EP 15190255A EP 3017920 B1 EP3017920 B1 EP 3017920B1
Authority
EP
European Patent Office
Prior art keywords
manipulator
detection system
industrial robot
mechanical structure
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15190255.8A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3017920A1 (en
Inventor
Gian Paolo Gerio
Allan Mathias WIKLUND
Arturo Baroncelli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Comau SpA
Original Assignee
Comau SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Comau SpA filed Critical Comau SpA
Priority to PL15190255T priority Critical patent/PL3017920T3/pl
Publication of EP3017920A1 publication Critical patent/EP3017920A1/en
Application granted granted Critical
Publication of EP3017920B1 publication Critical patent/EP3017920B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086Proximity sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices
    • B25J19/063Safety devices working only upon contact with an outside object
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/14Arm movement, spatial
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/30End effector
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/46Sensing device

Definitions

  • the present invention relates to industrial robots that comprise a manipulator and a control unit of the manipulator.
  • the invention has been developed with particular reference to the question of co-operation between a human operator and such an industrial robot.
  • An industrial robot can normally operate in a manual mode and at least one automatic mode, which can usually be selected on the control unit of the manipulator.
  • the manual operating mode is selected for the purposes of programming of the robot and, in this mode, the manipulator can be manoeuvred via commands imparted manually by an operator; in the automatic operating mode, instead, the movement of the manipulator is governed exclusively by its control unit.
  • the activity of programming of a robot with a number of degrees of freedom basically consists in teaching the robot the path that a point of its manipulator will have to repeat automatically in the course of the normal working steps, for carrying out a certain operation.
  • This point is usually constituted by the so-called "Tool Center Point” (TCP), which identifies the position of the active part of an end effector of the manipulator, here understood as a machining tool or else as an ensemble consisting of a gripping device and the corresponding piece moved.
  • TCP Tool Center Point
  • the majority of the programming time is dedicated to governing the robot manually in order to identify the optimal points of the paths of movement of the TCP and store the corresponding co-ordinates thereof.
  • a portable programming terminal also known as "teach pendant” can be used, or else a manual guide device, directly mounted on the movable structure of the manipulator.
  • the operator uses specific pushbuttons of the teach pendant, known as jog buttons or jog keys, which govern movement of one or more axes of the robot.
  • jog buttons or jog keys which govern movement of one or more axes of the robot.
  • the reference systems “Joints”, “Base” and “Tool” are typically provided, where the system Joints refers to the joints of the robot (a vector in this system represents the angular positions of each of the joints) and the systems Base and Tool are cartesian reference systems, the former referring to the base of the robot and the latter to the end effector provided on the end flange of the robot.
  • manual guide devices enable the activity of programming of the robot to be rendered more intuitive since they basically consist of a sort of grip associated to the movable structure of the manipulator on which the programmer acts to get the manipulator itself to perform the desired movements in the programming stage.
  • a force sensor that enables the control unit to recognise the direction of displacement desired by the programmer (see, for example, US 6212443 A ).
  • a joystick device may be provided (see, for example, US8412379 B ).
  • control unit of a robot is able to operate according to three different modes or states, namely a Programming mode, an Automatic mode, and a Remote mode.
  • an operator acts in the vicinity of the manipulator, as explained previously, in order to govern operation thereof, store the programming steps, and program the operating activity, by means of the teach pendant or the manual guide device.
  • the step of programming of the robot is clearly the one that involves greater risks for an operator, who must follow closely the TCP in order to check visually positioning thereof, moving continuously around the manipulator. For this reason, in the Programming mode restrictions of speed to the movements of the manipulator are normally activated.
  • the operator has then available in his own hands an emergency-stop pushbutton and an enabling device, which are both present on the terminal.
  • the enabling device is not kept active manually by the operator, the manipulator cannot perform any movement.
  • the grip itself constitutes a sort of enabling device given that its release by the operator causes an arrest of the movement of the robot.
  • the robot executes an operating program of its own, obtained as explained above, possibly in combination with other robot or automatic apparatuses, normally within a cell protected from access of staff, but under visual control of an operator.
  • the robot executes an operating program of its own within a cell normally protected from access of staff, but in this case start of execution of the program comes from a cell supervisor, such as a PLC, which, for example, controls both the robot and other automatic apparatuses present in the cell itself.
  • a cell supervisor such as a PLC
  • US 2014/067121 A1 discloses an industrial robot and a control method having the features of the preambles of claims 1 and 11.
  • EP 1724072 A1 discloses an industrial robot comprising an accelerometer mounted on the robot for monitoring movement of a tool assembly attached to an end effector for safety monitoring purposes.
  • the accelerometer provides an output signal to the robot controller, which the controller uses to monitor the robot movement and stop that movement when a predetermined values of acceleration, speed and distance are detected during lead-through teaching of the robot.
  • the object of the present invention is to provide an industrial robot and a control system for an industrial robot that will render possible a high degree of co-operation between a human operator and an industrial robot operating automatically, but without jeopardizing the necessary requisites of safety.
  • references to "an embodiment” or “one embodiment” in the framework of the present description is intended to indicate that a particular configuration, structure, or characteristic described in relation to the embodiment is comprised in at least one embodiment.
  • phrases such as “in an embodiment” or “in one embodiment” and the like that may be present in various parts of the present description do not necessarily all refer to one and the same embodiment.
  • the particular configurations, structures, or characteristics may be combined in any adequate way in one or more embodiments.
  • the references used in what follows are provided merely for convenience and do not define the sphere of protection or the scope of the embodiments.
  • FIG. 1 Represented schematically in Figure 1 is an industrial robot according to one embodiment of the invention, comprising a manipulator 1 with a number of degrees of freedom, having a mechanical structure 2 that comprises a plurality of movable parts.
  • the robot is an anthropomorphic robot with six degrees of freedom having a stationary base 3 and a column 4 rotatably mounted on the base 3 about a first axis A1 oriented vertically.
  • Designated by 5 is an arm mounted oscillating on the column 4 about a second axis A2 oriented horizontally.
  • Designated by 6 is an elbow, mounted on the arm 5 so as to turn about a third axis A3, which is also oriented horizontally, the elbow 6 supporting a forearm 7, designed to turn about its axis A4, which consequently constitutes a fourth axis of movement of the manipulator 1.
  • the forearm 7 is equipped at its end with a wrist 8, mounted for movement according to two axes A5 and A6.
  • an end effector designated by 9, which in the example is represented by a device for gripping a generic component 10.
  • TCP Tool Center Point
  • the end effector 9 may be of any other type and be able to perform any other function known in the sector, for example a welding torch or welding jaw, a paint-spray gun, or a gun for application of a sealant, a drilling or grinding spindle, etc.
  • the movable parts 4-8 are connected together by means of joints 11, 12, 13 and 14, associated to which are respective electric motors 11', 12', 13', and 14', with corresponding gear-reducer transmission.
  • the joints and the motors for the wrist 8 are not illustrated in the figures for reasons of greater clarity.
  • the end effector 9 has respective actuator means, which are not represented either for reasons of clarity.
  • Associated to the aforesaid joints, i.e., to the corresponding motors, are corresponding transducers, for example of an encoder or resolver type, for control of position. Some of these transducers are designated by S in Figure 1 .
  • the movements of the manipulator 1 and the operations that can be carried out by the end effector 9 are managed by a control unit 15, which is located in a remote position with respect to the structure 2 and is connected to the electrical/electronic parts of the latter via a cable 16.
  • the practical embodiment of the hardware and of the software regarding the unit 15, which is provided with a respective microprocessor control system, are independent of the purposes of the present description, apart from some aspects referred to hereinafter that pertain to the invention.
  • the control unit 15 is configured for controlling the manipulator 1 in a plurality of different operating modes, amongst which at least one automatic operating mode and preferably also a manual operating mode.
  • the unit 15 comprises selection means 17, which can be operated by a user for selection of a desired operating mode from among the ones possible.
  • the robot is able to operate in three selectable modes, i.e., a Programming mode, an Automatic mode, and a Remote mode, as indicated in the introductory part of the present description.
  • the reference 17 hence designates a device for manual selection of the desired operating mode from among the ones indicated.
  • This program or software that supervises operation of the manipulator 1, in the three modes indicated.
  • This program - represented schematically by block 18 - preferably includes at least one dynamic model for control of the manipulator 1.
  • the software 18, or the corresponding dynamic model can be defined according to any technique in itself known in the sector for controlling industrial robots, and consequently will not be described in detail herein.
  • this program or model includes the relations that express at least the theoretical values of position, speed, and acceleration of the parts of the movable structure of the manipulator 1 (including its motors) for the purposes of control of its movement, as well as the relations that express theoretical values of torque applied by the electric motors of the various connection joints provided.
  • the transducers S are obviously used.
  • an operator in the Programming mode, an operator "simulates" a machining step, which the manipulator 1 will then be called upon to perform in the Automatic or Remote mode, by varying the posture of the manipulator itself via a teach pendant or else a manual guide device (or possibly in OLP mode).
  • the movements of the manipulator are instead governed directly by the control unit 15.
  • the electric motors associated to the joints and to the wrist of the structure 2 are driven by the unit 15 according to working-speed profiles determined by the control program 18, i.e., by the corresponding dynamic model.
  • the industrial robot according to the invention includes a first detection system, prearranged for detecting the possible presence of an operator - or more in general of a foreign body - in a predefined working area of the manipulator 1.
  • This detection system may for example comprise one or more devices selected from among image-sensor devices, light-beam sensing devices (visible and non-visible light), radiofrequency devices, force-transducer devices.
  • the first detection system includes a surveillance system based upon the use of a plurality of image-recording units.
  • Systems of this type are in themselves well-known in the field and do not require any in-depth description.
  • different recording units record images of a three-dimensional area undergoing surveillance, and a processing unit detects the presence of foreign bodies in the three-dimensional area, on the basis of comparisons made between the images recorded by the various units.
  • US2009268029 A the teachings of which are considered as being incorporated herein for reference.
  • a sensing device including a plurality of image-recording units, for example obtained according to the technique described in the aforesaid US2009268029 A (see, in particular, Figure 4 of this prior document).
  • the three-dimensional area, designated by 20, undergoing surveillance by the device 19 is the area within the limits of which the movable structure 2 of the manipulator 1 is able of move, in particular with reference to its most extreme part - here represented by the end effector including the gripping device 9 and by the corresponding piece 10 being handled (it may be noted that in Figure 2 , as in Figures 3 and 5-7 , the working area 20 of the manipulator 1 is represented with dimensions smaller than those theoretically possible in view of the articulations of the manipulator itself).
  • the robot according to the invention moreover includes a second detection system, comprising one or more inertial sensors installed on the manipulator 1.
  • a second detection system comprising one or more inertial sensors installed on the manipulator 1.
  • three inertial sensors 21 are, for example, provided, mounted respectively on the arm 5, on the forearm 7, and on the end effector 9.
  • the sensors 21 are accelerometers of a commercial type, but not excluded from the scope of the invention is the case of use of gyroscopes.
  • the industrial robot according to the invention moreover includes a third detection system, which comprises means for measuring the torque applied by at least some of the electric motors of the manipulator 1, such as for example the motors 11'-14' and the motors associated to the wrist 8.
  • the means for measuring the torque may be of any type known in the sector.
  • measurement of the torque is carried out indirectly, and for this purpose means for measuring the current absorbed by the aforesaid motors are provided.
  • the program 18 implemented in the control unit 15 includes the relations existing between the values of torque that can be applied by the aforesaid motors and the corresponding current absorptions.
  • These measuring means which preferably comprise one or more amperometric sensors in the control unit 15, are represented schematically in Figure 1 by block 22.
  • the unit 15 is prearranged in such a way that - when the robot operates automatically (i.e., in the Automatic mode or in the Remote mode), detection by the first detection system 19 of the presence of a foreign body, i.e., an operator, within the working area 20 determines automatic selection of a Safe Automatic Operating mode.
  • the control unit 15 governs reduction of the driving speeds of the electric motors of the manipulator 2 with respect to the working speeds imposed by the control program for carrying out the machining operations in Automatic or Remote mode.
  • the speeds of the motors are reduced to safety speeds determined by the program 18 for the Safe Automatic Operating mode. These safety speeds are not higher than a predetermined speed threshold, deemed sufficiently safe: preferably, this threshold is 250 mm/s.
  • control unit 15 governs return of the robot to the condition of normal operation, i.e., to the Automatic mode or to the Remote mode originally selected manually.
  • control unit 15 - in addition to reducing the speed of the motors - monitors the state of the aforesaid second and third detection systems 21 and 22 in order to detect a possible impact between movable parts of the structure 2 of the manipulator 1 and the operator HO (or other foreign body) present in the working area 20 undergoing surveillance by the first detection system 19.
  • both of the detection systems 21 and 22 are used for this purpose. Detection of any possible impact based upon the use of the accelerometers 21 is made by comparing cyclically the theoretical acceleration values determined by the control program 18 with the real acceleration values measured via the accelerometers 21.
  • the specific algorithm of comparison may be of any type deemed suitable for the purpose. For instance, a possible criterion is to calculate the difference between the theoretical value of acceleration and the value of acceleration measured and to verify whether this difference is equal to or higher than a predefined threshold, for example equal to 10% of the theoretical value of acceleration.
  • accelerometers or other inertial sensors proves perfectly suitable for detecting impacts of an impulsive type, i.e., instantaneous or sudden impacts against the movable structure of the manipulator, which in a unit of time (for example 1 s) give rise to a high energy and as such generate in an inertial sensor a pulse that is clearly distinguishable (consider, for example, an operator who bumps against the structure of the robot with an arm or with a generic rigid object that he has in his hand).
  • an impulsive type i.e., instantaneous or sudden impacts against the movable structure of the manipulator
  • a unit of time for example 1 s
  • the signals generated by this type of sensors do not enable precise discrimination (if not at the expense of a considerable burdening of the control logic and of the processing capacity of the unit 15) of impacts of a non-impulsive type, i.e., contacts with the structure of the robot that are prolonged and that in the unit of time have a low energy (consider, for example, the case of a part of the movable structure of the manipulator that exerts a progressive pressure on a part of the body of an operator).
  • the control unit 15 in parallel to monitoring of possible collisions by the system of accelerometers 21, also carries out monitoring based upon analysis of the torque applied by the motors that drive the movable parts of the manipulator 1. Also in this case, basically the unit 15 cyclically compares the theoretical values of torque determined by the control program 18 with the values of torque measured via the detection system 22. In the example considered herein, as has been said, this type of monitoring is indirect and based upon the comparison between the theoretical absorptions and the real absorptions of the electric motors associated to the mobile parts of the manipulator 1. Also in this case, the specific algorithm of comparison may be of any type deemed suitable for the purpose. For instance, also in this case a possible criterion is to calculate the difference between the theoretical value of absorption and the measured value of absorption and verify whether this difference is equal to or higher than a predefined threshold, for example equal to 10% of the theoretical value of acceleration.
  • a predefined threshold for example equal to 10% of the theoretical value of acceleration.
  • the systems 21 and 22 must be understood as complementary to one another, for the purposes of a more convenient and prompt detection of any possible impact of movable parts of the manipulator 1 against the operator HO or another foreign body present in the working area 20.
  • control unit 15 governs arrest of the movement of the structure 2 of the manipulator 1 or else governs a reversal of its movement, in particular prior to its arrest, for example for a given travel (the manipulator may be driven in reverse until it assumes a predefined posture, for example with the parts of its structure in a position as vertical as possible). Arrest or reversal of movement is aimed at safeguarding the operator HO after an impact is detected.
  • the reduced speed enables effective co-operation between the operator and the robot also for the purposes of execution of a machining operation, for example with the operator who passes a workpiece to the manipulator, or else who picks up a machined piece from the manipulator, or again with the manipulator that supports a piece on which the operator carries out a manual operation or an operation performed with the aid of a tool, for example a wrench.
  • Exit of the operator HO from the area 20 automatically determines restoration of the normal working condition of the robot, such as the Automatic mode or the Remote mode, at the highest speed envisaged by the program for normal operation.
  • Figure 4 represents a simplified block diagram, aimed at exemplifying a possible control program for an industrial robot, limitedly to the part that pertains to the present invention.
  • Block 100 is the block representing start of the program, for example on occasion of a start command imparted via the unit 15.
  • Control passes to the test block 101, via which a check is made to verify whether a manual mode is selected (Programming mode). If it is (output YES), control passes to block 102 for management of programming of the robot, according to modalities in themselves known that are irrespective of the present invention. If it is not (output NO), an automatic mode (Automatic or Remote mode) is selected, and control that then passes to block 103, for management of operation of the robot according to the working program defined by the specific application, also in this case according to modalities in themselves known that are irrespective of the present invention.
  • Control then passes to the next block 104, for activation of the first detection system 19, i.e., the system for surveillance of the working area of the manipulator 1.
  • the next test block 105 a check is made to verify whether the system 19 detects or not the presence of an operator HO (or, more in general, of a foreign body) in the working area 20. If it does not (output NO), the check is repeated, whereas if it does (output YES), control passes to block 16, for activation of the Safe Automatic Operating mode, with consequent reduction of the speed of displacement of the structure of the manipulator. Control then passes to block 107, for monitoring any possible impact by the detection systems 21 and 22.
  • the diagram of Figure 4 is provided merely by way of example, in so far as it is aimed at summing up in an intuitive way the steps of the control method proposed.
  • the control made by the detection system 19 it is preferable for the control made by the detection system 19 to be carried out in a constant way (unlike what is represented by block 105 of Figure 4 ) so that, when the operator HO moves back out of the working area 20 of the manipulator 1, the robot exits autonomously from the Safe Automatic Operating mode, to return to the Automatic or Remote mode.
  • the first detection system is not necessarily based upon the use of image-sensor devices, it being possible for any other presence-detection system to be used for the purpose.
  • Figure 5 represents schematically the case of a presence-detection system based upon the use of force sensors.
  • the working area 20 of the manipulator 1 is subtended by a platform or base 19 1 , associated to which are force sensors or load cells (not indicated) designed to detect the presence on the platform itself of foreign bodies that have a weight higher than a certain threshold, for example 1 kg.
  • a certain threshold for example 1 kg.
  • Figure 6 represents schematically the case of a presence-detection system based upon the use of light-beam devices or light-barrier devices, for example laser scanners 19 2 arranged so that the beams emitted circumscribe at least in part the working area 20 of the manipulator 1.
  • the scanners circumscribe the entire area 20 laterally, but the latter could be circumscribed in part by means of metal structures and in part via a laser scanner.
  • other devices may be used for the purpose designed to generate light beams or light barriers that, when interrupted by the operator HO, determine passage of the robot into the Safe Automatic Operating mode.
  • the robot In applications of this type, it is preferable for the robot to be restored to the normal working condition (i.e., the Automatic or Remote mode) manually, for example by acting on a control means purposely provided on the control unit 15, in order not to complicate surveillance of the presence-detection system excessively.
  • the normal working condition i.e., the Automatic or Remote mode
  • Figure 7 represents schematically the case of a presence-detection system based upon the use of radiofrequency devices, in particular an RFID system.
  • the identification system comprises a portable transponder 19 3 , in particular configured for being carried by an operator HO.
  • the transponder 19 3 is associated to a band 25 that the operator HO carries on his arm.
  • the transponder 19 3 may of course be associated to other objects or garments that have to be worn or carried by an operator, such as, for example, a jacket, a glove, a badge, goggles, etc.
  • the detection system then comprises a transponder reader 19 4 , installed within the working area 20.
  • the transmission/reception range of the RFID system 19 3 - 19 4 is chosen in such a way as to cover a three-dimensional area at least corresponding to the range in which the manipulator 1 is able to move.
  • An RFID system of the type indicated may be used to advantage in combination with a different surveillance system, for example a system based upon image sensors of the type designated previously by 19.
  • the control logic of the robot may be prearranged so as to implement different safety levels, i.e., to guarantee co-operation of the robot according to the invention only with qualified operators.
  • the RFID system may be prearranged so as to cover a three-dimensional area 20 at least equal to or larger than the one covered by the system 19, for example substantially corresponding to the working area 20 of the manipulator 1.
  • a "non-authorized" operator enters the area 20
  • his presence is in any case detected by the system 19, with the control unit 15 that consequently stops movement of the manipulator 1.
  • one or more movable parts of the latter covering elements that preferably have a structure that is at least in part yielding.
  • FIG. 8 An example of this sort is represented schematically in Figure 8 , where associated to the arm 5 and to the forearm 7 of the manipulator 1 are covering elements, designated by 30, with a substantially tubular shape, these basically having the function of attenuating any possible impact between the aforesaid parts and an operator.
  • the specific conformation of the covering elements 30 provided may be different from the one exemplified, in particular so as to reproduce the profile of the structure of the manipulator 1, without significantly increasing the encumbrance thereof.
  • the inertial sensor or sensors of the second detection system that equips the robot according to the invention may be associated to the covering element or elements provided.
  • control unit of the robot according to the invention is prearranged for storing information representing acceleration values measured via the detection system based upon the inertial sensors 21.
  • This measure may prove particularly useful for diagnostic purposes and for verifying the state of service and operation of the manipulator.
  • a periodic comparison between theoretical acceleration values determined by the control software of the robot and values actually detected by the sensors 21, stored in the control unit 15 and possibly processed (for example, to obtain mean values).
  • the sensors 21 are in any case kept active in the course of the machining operations carried out in Automatic or Remote mode. Comparison between the theoretical values and the real ones may be made via a purposely provided diagnostic program implemented on the control unit 15. The presence of significant deviations between the expected values and those actually measured may be considered as representing possible problems of the mechanical structure of the manipulator, for example due to onset of play or yielding.
  • the invention may be applied on industrial robots of different sizes and loads, and hence both robots for modest loads (for example, a few kilograms) and robots for high loads (for example, hundreds of kilograms), as well as on robots of a type different from the anthropomorphic ones exemplified herein, for example robots with cartesian configuration, cylindrical configuration, polar configuration, and SCARA (Selective Compliance Assembly Robot Arm) configuration. Consequently, also the joints that connect the rigid parts of the movable structure of the manipulator may be of a different type according to the type of robot, such as rotoidal joints, prismatic joints, or helical joints.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
EP15190255.8A 2014-11-07 2015-10-16 An industrial robot and a method for controlling an industrial robot Active EP3017920B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL15190255T PL3017920T3 (pl) 2014-11-07 2015-10-16 Robot przemysłowy i sposób sterowania robotem przemysłowym

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO20140924 2014-11-07

Publications (2)

Publication Number Publication Date
EP3017920A1 EP3017920A1 (en) 2016-05-11
EP3017920B1 true EP3017920B1 (en) 2017-08-23

Family

ID=52016826

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15190255.8A Active EP3017920B1 (en) 2014-11-07 2015-10-16 An industrial robot and a method for controlling an industrial robot

Country Status (9)

Country Link
US (1) US10005184B2 (zh)
EP (1) EP3017920B1 (zh)
JP (2) JP2016087785A (zh)
CN (1) CN105583826B (zh)
BR (1) BR102015027352B1 (zh)
CA (1) CA2909755C (zh)
ES (1) ES2648295T3 (zh)
MX (1) MX350110B (zh)
PL (1) PL3017920T3 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4069472A4 (en) * 2019-12-05 2024-03-20 MAGNA Powertrain GmbH & Co KG METHOD AND CONFIGURATION IN THE CONTEXT OF BARRIER-FREE ROBOTICS

Families Citing this family (62)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10279470B2 (en) * 2014-06-12 2019-05-07 Play-i, Inc. System and method for facilitating program sharing
US9370862B2 (en) 2014-06-12 2016-06-21 Play-i, Inc. System and method for reinforcing programming education through robotic feedback
CN106660215B (zh) * 2014-07-02 2021-09-17 西门子公司 预警系统和机器人系统
JP6677441B2 (ja) * 2014-10-20 2020-04-08 株式会社デンソーウェーブ ロボット、ロボットの形状設計方法
US10422870B2 (en) * 2015-06-15 2019-09-24 Humatics Corporation High precision time of flight measurement system for industrial automation
FR3043004B1 (fr) * 2015-10-29 2017-12-22 Airbus Group Sas Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface
US11624631B2 (en) * 2015-11-24 2023-04-11 Daxbot Inc. Autonomous robots and methods for determining, mapping, and traversing routes for autonomous robots
EP3243609A1 (en) * 2016-05-09 2017-11-15 OpiFlex Automation AB A fenceless industrial robot system
CN109153134B (zh) * 2016-05-26 2021-08-13 三菱电机株式会社 机器人控制装置
JP6360105B2 (ja) * 2016-06-13 2018-07-18 ファナック株式会社 ロボットシステム
DE102016007520A1 (de) * 2016-06-20 2017-12-21 Kuka Roboter Gmbh Überwachung einer Roboteranordnung
DE102016007519A1 (de) * 2016-06-20 2017-12-21 Kuka Roboter Gmbh Überwachung einer Anlage mit wenigstens einem Roboter
US9925663B2 (en) * 2016-07-07 2018-03-27 Universal City Studios Llc Movable hardstop for a robotic component
US10182875B2 (en) * 2016-08-16 2019-01-22 Ethicon Llc Robotic visualization and collision avoidance
US10413373B2 (en) * 2016-08-16 2019-09-17 Ethicon, Llc Robotic visualization and collision avoidance
CN106354038A (zh) * 2016-09-06 2017-01-25 江苏艾科瑞思封装自动化设备有限公司 微组装设备智能控制系统
CN107962560B (zh) * 2016-10-18 2020-08-07 珠海格力智能装备有限公司 机器人及其控制方法和装置
CN107953330A (zh) * 2016-10-18 2018-04-24 珠海格力智能装备有限公司 机器人及其控制方法和装置
TWI616288B (zh) * 2016-12-27 2018-03-01 台達電子工業股份有限公司 工具帶動模組及其適用之機器手臂
CN106826824A (zh) * 2017-02-04 2017-06-13 广东天机工业智能系统有限公司 机器人智能安全保护方法
JP6866673B2 (ja) * 2017-02-15 2021-04-28 オムロン株式会社 監視システム、監視装置、および監視方法
US11351673B2 (en) 2017-03-06 2022-06-07 Miso Robotics, Inc. Robotic sled-enhanced food preparation system and related methods
US20210030199A1 (en) 2017-03-06 2021-02-04 Miso Robotics, Inc. Augmented reality-enhanced food preparation system and related methods
JP7223493B2 (ja) * 2017-05-19 2023-02-16 川崎重工業株式会社 ロボットシステム
CN109213306B (zh) * 2017-06-30 2022-02-01 沈阳新松机器人自动化股份有限公司 一种机器人远程控制平台及其设计方法
EP3428754B1 (de) * 2017-07-13 2023-02-15 Siemens Aktiengesellschaft Verfahren zum einrichten eines bewegungsautomaten und einrichtungsanordnung
CN109591050A (zh) * 2017-09-30 2019-04-09 西门子公司 安全跟踪系统、装置、方法、存储介质及安全系统
DE102017123295A1 (de) * 2017-10-06 2019-04-11 Pilz Gmbh & Co. Kg Sicherheitssystem zur Absicherung eines kooperativen Betriebs von Menschen, Robotern und Maschinen
SK8191Y1 (sk) * 2017-12-08 2018-09-03 Histogram S R O Spôsob filtrácie prevodových náplní v priemyselnom robote a priemyselný robot s filtráciou prevodových náplní
CN109656190A (zh) * 2018-04-12 2019-04-19 佛山金皇宇机械实业有限公司 一种基于铝型材自动集成装备的加工路径优化方法
IT201800005091A1 (it) 2018-05-04 2019-11-04 "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico"
CN108748144B (zh) * 2018-05-28 2020-06-30 上海优尼斯工业服务有限公司 一种人机协作机械臂的碰撞识别方法
KR102073209B1 (ko) * 2018-06-12 2020-02-05 씨아이티 주식회사 러기지 보드 자동 연삭장치
JP7155660B2 (ja) * 2018-06-26 2022-10-19 セイコーエプソン株式会社 ロボット制御装置およびロボットシステム
GB2575113B (en) 2018-06-29 2022-06-08 Cmr Surgical Ltd Detecting collisions of robot arms
DE102018117802A1 (de) * 2018-07-24 2020-01-30 Krones Aktiengesellschaft Verfahren und Steuerungssystem zur Kalibrierung einer Handhabungsvorrichtung, insbesondere eines Parallelkinematik-Roboters
US11192258B2 (en) * 2018-08-10 2021-12-07 Miso Robotics, Inc. Robotic kitchen assistant for frying including agitator assembly for shaking utensil
US11577401B2 (en) 2018-11-07 2023-02-14 Miso Robotics, Inc. Modular robotic food preparation system and related methods
JP7156397B2 (ja) * 2018-12-28 2022-10-19 京セラドキュメントソリューションズ株式会社 制御装置
JP7207010B2 (ja) * 2019-02-27 2023-01-18 セイコーエプソン株式会社 ロボットシステム及びその制御方法
JP2020142344A (ja) * 2019-03-08 2020-09-10 トヨタ自動車株式会社 環境監視システム
TWI681856B (zh) * 2019-04-01 2020-01-11 達詳自動化股份有限公司 可檢測模具斷損的自動澆鑄檢測方法
KR102143083B1 (ko) 2019-04-26 2020-08-10 삼성전자주식회사 디스플레이 장치 및 그 제어 방법
FR3097457B1 (fr) * 2019-06-19 2021-07-09 Safran Aircraft Engines Procédé d’ébavurage amélioré de pièce aéronautique
JPWO2021033241A1 (zh) * 2019-08-19 2021-02-25
CN114364494B (zh) * 2019-09-13 2023-09-19 株式会社富士 工件搬运机器人
CN110605720A (zh) * 2019-10-18 2019-12-24 扬州工业职业技术学院 一种工业机器人视觉系统及其示教方法
EP3838504A1 (de) * 2019-12-19 2021-06-23 FRONIUS INTERNATIONAL GmbH Verfahren und vorrichtung zur überwachung eines bearbeitungsprozesses und bearbeitungsmaschine mit einer solchen vorrichtung
KR20210100298A (ko) * 2020-02-06 2021-08-17 삼성전자주식회사 디스플레이 장치 및 그 제어 방법
CA3117643A1 (en) * 2020-05-12 2021-11-12 Soremartec S.A. Operating device
US11338447B2 (en) 2020-07-06 2022-05-24 XYZ Robotics Global Inc. Structural load cell cases for encasing sensors in robotic systems
AT524080B1 (de) * 2020-08-06 2024-06-15 Hrach Thomas Vorrichtung und Verfahren zum Erfassen von Geschwindigkeiten von Armsegmenten eines Roboters
US12080415B2 (en) 2020-10-09 2024-09-03 Humatics Corporation Radio-frequency systems and methods for co-localization of medical devices and patients
CN112098673A (zh) * 2020-10-29 2020-12-18 杭州智行远机器人技术有限公司 基于scara机器人的自动取样控制系统及控制方法
CN114619439B (zh) * 2020-12-11 2023-06-13 郑州思昆生物工程有限公司 多轴机械臂防撞击保护控制系统
US12082742B2 (en) 2021-05-01 2024-09-10 Miso Robotics, Inc. Automated bin system for accepting food items in robotic kitchen workspace
CN113290364B (zh) * 2021-07-01 2024-08-20 中国工程物理研究院机械制造工艺研究所 一种基于工业机器人自动装配的安全控制方法、系统
US11999284B2 (en) * 2021-09-01 2024-06-04 Terabase Energy, Inc. Solar table mobile transport
KR102450229B1 (ko) * 2021-12-28 2022-10-04 비엠에스엔지니어링 주식회사 원격 제어 용접이 가능한 탱크 용접 장치
IT202200005036A1 (it) * 2022-03-15 2023-09-15 Automationware S R L Dispositivo robotico con giunto robotico perfezionato, per il rilevamento di impatti e vibrazioni, e relativo metodo di rilevamento
US12115656B1 (en) 2022-05-11 2024-10-15 Ally Robotics, Inc. Modular robotic arm
US11938576B1 (en) 2022-12-20 2024-03-26 Terabase Energy, Inc. Systems and methods for threading a torque tube through U-bolt and module rail devices

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6028720A (ja) * 1983-07-27 1985-02-13 株式会社日立製作所 動力装置の異常検知方式
JPS63134185A (ja) * 1986-11-25 1988-06-06 徳山 福来 ロボツト装置
JP2981946B2 (ja) * 1992-02-05 1999-11-22 日立建機株式会社 作業機械の警報システム
KR100449429B1 (ko) 1995-09-14 2004-12-13 가부시키가이샤 야스가와덴끼 로봇의교시장치
JP4055090B2 (ja) * 1997-07-08 2008-03-05 株式会社安川電機 ロボットの制御装置
JP4756618B2 (ja) * 2001-03-21 2011-08-24 株式会社ダイヘン 多関節ロボットにおける衝突検出・停止制御法
JP2003039376A (ja) * 2001-07-30 2003-02-13 Yaskawa Electric Corp 衝突検出センサ
JP2004364396A (ja) * 2003-06-04 2004-12-24 Yaskawa Electric Corp モータの制御装置および制御方法
JP2005342858A (ja) * 2004-06-04 2005-12-15 Toshiba Mach Co Ltd 産業用ロボットの衝突検出方法および衝突検出装置
DE102004041821A1 (de) * 2004-08-27 2006-03-16 Abb Research Ltd. Vorrichtung und Verfahren zur Sicherung eines maschinell gesteuerten Handhabungsgerätes
WO2006043396A1 (ja) * 2004-10-19 2006-04-27 Matsushita Electric Industrial Co., Ltd. ロボット装置
SE0402696D0 (sv) * 2004-11-04 2004-11-04 Abb Ab Industrial robot system
US20060178775A1 (en) * 2005-02-04 2006-08-10 George Zhang Accelerometer to monitor movement of a tool assembly attached to a robot end effector
ATE424976T1 (de) * 2005-05-20 2009-03-15 Abb Research Ltd Beschleunigungsmesser zur bewegungsregelung eines an einem roboter-endeffektor befestigten werkzeugs
EP1810795A1 (en) * 2006-01-19 2007-07-25 Abb Ab Safety device for an industrial robot with elastic sealed bag comprising a fluid or gas
WO2007085330A1 (en) * 2006-01-30 2007-08-02 Abb Ab A method and a system for supervising a work area including an industrial robot
JP4243309B2 (ja) * 2006-07-04 2009-03-25 パナソニック株式会社 ロボットアームの制御装置
DE102006057605A1 (de) 2006-11-24 2008-06-05 Pilz Gmbh & Co. Kg Verfahren und Vorrichtung zum Überwachen eines dreidimensionalen Raumbereichs
EP1927440A1 (en) * 2006-11-30 2008-06-04 Abb Research Ltd. Method and device for monitoring the condition of an industrial robot
JP2008220553A (ja) * 2007-03-12 2008-09-25 Hitachi Ltd 放射線治療システム
JP5071032B2 (ja) * 2007-10-17 2012-11-14 セイコーエプソン株式会社 水平多関節型ロボット
EP2342031B1 (de) * 2008-10-29 2020-04-08 SMS group GmbH Roboterinteraktionssystem
EP2194434B1 (en) 2008-12-05 2012-05-30 COMAU SpA Robot system
JP5343641B2 (ja) * 2009-03-12 2013-11-13 株式会社Ihi ロボット装置の制御装置及びロボット装置の制御方法
EP2411189B1 (en) * 2009-03-27 2020-08-05 Abb Ag Intrinsically safe small robot and method for controlling this robot
JP5383911B2 (ja) * 2010-06-22 2014-01-08 株式会社東芝 ロボット制御装置
DE102010061949A1 (de) * 2010-11-25 2012-05-31 Siemens Aktiengesellschaft Verfahren und Anordnung zur Überwachung von motorisch bewegbaren Anlageteilen
DE102010063214A1 (de) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Sicherungseinrichtung für eine Handhabungsvorrichtung, insbesondere einen Industrieroboter, sowie Verfahren zum Betreiben der Sicherungseinrichtung
US9123155B2 (en) * 2011-08-09 2015-09-01 Covidien Lp Apparatus and method for using augmented reality vision system in surgical procedures
JP2013188815A (ja) * 2012-03-13 2013-09-26 Sony Corp 制御装置及び制御方法、並びにコンピューター・プログラム
JP5561565B2 (ja) * 2012-07-19 2014-07-30 株式会社安川電機 ロボット装置
WO2014036549A2 (en) * 2012-08-31 2014-03-06 Rethink Robotics, Inc. Systems and methods for safe robot operation
PL401996A1 (pl) * 2012-12-11 2014-06-23 Robotics Inventions Spółka Z Ograniczoną Odpowiedzialnością Układ kontroli kolizji robota z przeszkodą, robot wyposażony w taki układ oraz sposób kontroli kolizji robota z przeszkodą
JP5835254B2 (ja) * 2013-03-15 2015-12-24 株式会社安川電機 ロボットシステム、及び、ロボットシステムの制御方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4069472A4 (en) * 2019-12-05 2024-03-20 MAGNA Powertrain GmbH & Co KG METHOD AND CONFIGURATION IN THE CONTEXT OF BARRIER-FREE ROBOTICS

Also Published As

Publication number Publication date
BR102015027352B1 (pt) 2020-12-08
MX350110B (es) 2017-08-28
ES2648295T3 (es) 2017-12-29
EP3017920A1 (en) 2016-05-11
CN105583826A (zh) 2016-05-18
MX2015015442A (es) 2016-05-06
US10005184B2 (en) 2018-06-26
BR102015027352A2 (pt) 2016-05-24
US20160129595A1 (en) 2016-05-12
CA2909755C (en) 2018-09-18
JP3223826U (ja) 2019-11-07
PL3017920T3 (pl) 2018-02-28
CA2909755A1 (en) 2016-05-07
JP2016087785A (ja) 2016-05-23
CN105583826B (zh) 2018-05-25

Similar Documents

Publication Publication Date Title
EP3017920B1 (en) An industrial robot and a method for controlling an industrial robot
JP4513568B2 (ja) ロボット制御装置
JP6055014B2 (ja) 物または人との接触を検知する機能を有するロボット制御装置
US9043025B2 (en) Systems and methods for safe robot operation
EP2212064B1 (en) A method for controlling a plurality of axes in an industrial robot system and an industrial robot system
US8909373B2 (en) Robot and method for controlling of a robot
CN104972473A (zh) 具有引入功能的人协调型工业用机器人
KR20120028837A (ko) 감속기의 이상 판정 방법, 이상 판정 장치 및 로봇 시스템
WO2019194138A1 (ja) ロボットの制御装置
US20190160688A1 (en) Robot
JP2014188644A (ja) リスク評価装置
EP2900432B1 (en) Method for supervising a robot
JPS6250906A (ja) 産業用ロボツトの制御装置
CN113134832A (zh) 一种桁架机器人安全区域的设定方法
CN118544376A (zh) 一种工业机器人用控制系统
WO2019080996A1 (en) METHOD FOR MONITORING WORK AREA, ROBOT SYSTEM, AND CONTROL SYSTEM
Cui et al. Robotics Safety: An Engineering Teaching Module
CN118302275A (zh) 用于机器人化系统的在直接教学期间的安全控制的方法和相关的机器人化系统
JPS646914B2 (zh)
CN115243846A (zh) 机器人的控制装置、机器人系统、机器人控制方法
CN112548286A (zh) 一种焊接机械手及其使用方法
CN112638600A (zh) 机器人的控制装置
Podgorski et al. Robot safety research and development in Poland: an overview
JPS6336918B2 (zh)
JPH04193449A (ja) 手動パルス発生器の回転制御方式

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

17P Request for examination filed

Effective date: 20160810

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20170411

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: CH

Ref legal event code: NV

Representative=s name: ISLER AND PEDRAZZINI AG, CH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 920835

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170915

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602015004282

Country of ref document: DE

REG Reference to a national code

Ref country code: RO

Ref legal event code: EPE

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 3

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20170823

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2648295

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20171229

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171123

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171223

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171124

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171123

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602015004282

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171016

26N No opposition filed

Effective date: 20180524

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20171031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171016

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 4

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171016

REG Reference to a national code

Ref country code: AT

Ref legal event code: UEP

Ref document number: 920835

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170823

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20151016

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170823

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20220927

Year of fee payment: 8

Ref country code: RO

Payment date: 20220929

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20220921

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20221024

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20221018

Year of fee payment: 8

Ref country code: ES

Payment date: 20221116

Year of fee payment: 8

Ref country code: CZ

Payment date: 20221014

Year of fee payment: 8

Ref country code: AT

Payment date: 20221019

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20221027

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20231023

Year of fee payment: 9

Ref country code: IT

Payment date: 20231009

Year of fee payment: 9

Ref country code: DE

Payment date: 20231027

Year of fee payment: 9

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 920835

Country of ref document: AT

Kind code of ref document: T

Effective date: 20231016

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20231016

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231016

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231016

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231016

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231016

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231016

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231031

Ref country code: CZ

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231016

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231031

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20231016